High-integration rotor aeromagnetic integrated unmanned aerial vehicle system

Abstract

The invention relates to a high-integration rotor aeromagnetic integrated unmanned aerial vehicle system, and belongs to the technical field of aeromagnetic detection, the high-integration rotor aeromagnetic integrated unmanned aerial vehicle system comprises a cabin, a magnetic probe rod and a fluxgate, the magnetic probe rod and the cabin are connected with a cabin support, a cesium optical pump and a fluxgate sensor are installed on the magnetic probe rod, and the cesium optical pump is used for obtaining scalar magnetic field data; the fluxgate sensor is used for acquiring vector magnetic field data; a flight control module, a data transmission module and an electronic cabin module are arranged in the cabin; the electronic bin module is in communication connection with the cesium optical pump and the fluxgate sensor and used for sending received scalar magnetic field data and vector magnetic field data to the data transmission module through the flight control module, the data transmission module carries out data integration and then sends the data to the upper computer software through the remote controller, and the upper computer software carries out analysis to obtain aeromagnetic information. High integration of the aeromagnetic detection system is achieved, magnetic field data and flight control data can be shared in real time, the weight and the size are reduced, and the cruising ability of the unmanned aerial vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle detection, in particular to a high-integration rotary wing aeromagnetic integrated unmanned aerial vehicle system. BACKGROUND

[0002] Aeromagnetic detection is an important exploration method for finding magnetic materials by detecting changes in the geomagnetic field, which has the advantages of wide coverage, high precision, high efficiency and low cost, and is suitable for magnetic field exploration under complex surface conditions. Traditional aeromagnetic measurement mainly relies on fixed-wing aircraft or helicopters, but manned platforms have poor hovering ability, high flight noise and high operating cost. With the development of unmanned aerial vehicle technology, rotary wing unmanned aerial vehicles have become an ideal platform for aeromagnetic detection due to their vertical take-off and landing, ultra-low altitude flight, and environmental friendliness. The unmanned aerial vehicle aeromagnetic system can realize high-resolution data acquisition, adapt to complex terrain, and greatly reduce the cost of exploration, providing a new technical means for mineral exploration, geological survey and military detection.

[0003] The aeromagnetic detection system on the market usually adopts independent load design, integrates the airborne magnetometer, aeromagnetic compensator, navigation positioning system, etc. and is mounted on the unmanned aerial vehicle. For example, the magnetometer detection system is suspended below the unmanned aerial vehicle through a boom, or the magnetometer is fixed to the bottom of the unmanned aerial vehicle through a cable and a pneumatic shell, or the magnetometer system is installed on a rigid support in front of, behind or directly below the unmanned aerial vehicle.

[0004] However, the above installation method separates the unmanned aerial vehicle system and the aeromagnetic detection system into two structures, and the data of the navigation positioning system and the height measuring instrument provided by the unmanned aerial vehicle cannot be obtained by the aeromagnetic detection system, resulting in the need for a separate navigation positioning system and height measuring instrument for the aeromagnetic detection system to obtain data, increasing the load of the rotary wing unmanned aerial vehicle and reducing the endurance of the unmanned aerial vehicle. In addition, the existing small rotary wing unmanned aerial vehicle aeromagnetic system generally has the problems of short endurance time and limited load capacity, which cannot meet the needs of large-scale aeromagnetic exploration. SUMMARY

[0005] In view of the deficiencies in the related art, the present application aims to provide a high-integration rotary wing aeromagnetic integrated unmanned aerial vehicle system to solve the technical problem that the data of the unmanned aerial vehicle and the aeromagnetic detection system are not interchanged, the independent structure increases the load of the rotary wing unmanned aerial vehicle, reduces the endurance of the unmanned aerial vehicle, and causes waste of equipment resources.

[0006] The present application provides a high-integration rotary wing aeromagnetic integrated unmanned aerial vehicle system, comprising: a cabin connected with a cabin support; A magnetic probe rod connected with the nacelle support, a cesium optical pump and a fluxgate sensor are installed on the magnetic probe rod, the cesium optical pump is used to obtain scalar magnetic field data, and the fluxgate sensor is used to obtain vector magnetic field data; The nacelle is configured with: A flight control module; A data transmission module in communication connection with the flight control module; An electronic warehouse module in communication connection with the flight control module, the cesium optical pump and the fluxgate sensor, the electronic warehouse module receives the scalar magnetic field data and the vector magnetic field data and sends them to the flight control module; The flight control module sends the scalar magnetic field data and the vector magnetic field data to the data transmission module, the data transmission module integrates the scalar magnetic field data and the vector magnetic field data and sends them to an upper computer software through a remote controller, and the upper computer software analyzes the integrated magnetic field data to obtain aeromagnetic information.

[0007] The cesium optical pump and the fluxgate sensor are integrated and installed on the magnetic probe rod, and the flight control module, the data transmission module and the electronic warehouse module are highly integrated in the nacelle, so that the integration and fusion design of the aeromagnetic detection system and the unmanned aerial vehicle flight platform is realized, the length and complexity of the internal connection cable of the system are reduced, the interference and loss in the signal transmission process are reduced, the magnetic field data is received and processed by the electronic warehouse module and transmitted to the flight control module, the cooperative optimization of the magnetic field data acquisition and the flight control is realized, and the collection efficiency of the aeromagnetic data and the reliability of the whole system are improved.

[0008] In some embodiments of the application, the electronic warehouse module comprises: A cesium optical pump acquisition board electrically connected with the cesium optical pump and used for receiving the scalar magnetic field data; A fluxgate acquisition board electrically connected with the fluxgate sensor and used for receiving the vector magnetic field data; A data fusion board used for data fusion of the scalar magnetic field data and the vector magnetic field data.

[0009] The cesium optical pump acquisition board and the fluxgate acquisition board are arranged in the electronic warehouse module to process the scalar magnetic field data and the vector magnetic field data respectively, and a special data fusion board is used to fuse and process the two types of magnetic field data, so that the performance advantages of different magnetic sensors can be fully utilized to ensure the accuracy and synchronization of the collection of various types of magnetic field data, and the quality and availability of the magnetic field data are improved through the professional data processing process, thereby providing a reliable data basis for subsequent aeromagnetic information analysis.

[0010] In some embodiments of the application, the unmanned aerial vehicle system further comprises: A power driving module is connected to the cabin through the arm group for driving the UAV system to fly, and the power driving module comprises: A propeller is used to drive the UAV system to fly by air power. A motor module is drivingly connected to the propeller for driving the propeller to rotate. An electronic speed controller module is electrically connected to the motor module for adjusting the rotating speed of the motor module.

[0011] Through the integrated design of the power driving module, the propeller, the motor module and the electronic speed controller module are connected to the cabin as a complete power unit through the arm group, stable and reliable flight propulsion force is provided, the efficiency and accuracy of power output are realized through the optimization matching between the components, the electronic speed controller module accurately controls the rotating speed of the motor, the stability and maneuverability of the UAV in various flight states are ensured, and a smooth flight platform is provided for the airborne magnetic detection operation.

[0012] In some embodiments of the application, the cabin is further provided with: A power distribution board is electrically connected to the electronic warehouse module, the data transmission module, the motor module and the electronic speed controller module, and is used to supply power to the electronic warehouse module, the data transmission module, the motor module and the electronic speed controller module through power distribution.

[0013] The power distribution board is used for unified power distribution and management of the electronic warehouse module, the data transmission module, the motor module and the electronic speed controller module, the power wiring structure of the system is simplified, the complexity and weight brought by multiple independent power supplies are reduced, and through the unified power monitoring and protection mechanism, stable and reliable power supply is ensured for each module, the working stability and safety of the whole system are improved, and continuous energy support is provided for long-time airborne magnetic detection tasks.

[0014] In some embodiments of the application, the power distribution board comprises: A battery interface is electrically connected to the power output end of the battery of the UAV system for inputting the electric energy provided by the battery into the power distribution board for distribution. A voltage reduction module is connected to the battery interface, and is connected to the electronic warehouse module and the data transmission module for converting the voltage of the battery into the working voltage of the electronic warehouse module and the data transmission module. A motor power supply port is electrically connected to the motor module for supplying power to the motor module. An electronic speed controller parallel interface is connected to multiple electronic speed controller modules through a CAN bus for supplying power to the electronic speed controller modules.

[0015] The power distribution board, through the coordinated design of the battery interface, step-down module, motor power supply port, and ESC parallel interface, realizes the differentiated power supply needs of different electrical devices. The battery interface is responsible for the input and distribution of power, the step-down module provides a stable operating voltage for precision electronic equipment, the motor power supply port meets the power needs of high-power power systems, and the ESC parallel interface realizes the coordinated power supply of multiple ESCs through the CAN bus, which improves the efficiency of power utilization and ensures the working stability of each module.

[0016] In some embodiments of the present invention, the power drive module is further configured to: The takeoff weight is calculated based on the weight of the UAV system and the weight of the battery. The hovering current is calculated based on the takeoff weight. The hovering endurance is calculated based on the hovering current and the battery capacity. The motor module and the ESC module are selected based on the hovering endurance.

[0017] By calculating the relationship between takeoff weight, hovering current, and endurance, the scientific selection and optimized configuration of the power system were achieved, ensuring that the motor module and ESC module were precisely matched with the mission requirements. This avoided both the decline in flight performance caused by insufficient power and the energy waste caused by excessive power, thereby maximizing the system's endurance while ensuring the performance of aeromagnetic detection.

[0018] In some embodiments of the present invention, the unmanned aerial vehicle system further includes: An RTK probe antenna is installed at both ends of the magnetic probe rod to acquire RTK probe signals; An RTK positioning detector is configured inside the cabin, electrically connected to the RTK detection antenna, and communicatively connected to the flight control module. It is used to process the RTK detection signal to obtain RTK detection data and send it to the flight control module.

[0019] By working together with the RTK probe antennas installed at both ends of the magnetic probe and the RTK positioning detector inside the cabin, the UAV is provided with high-precision spatial positioning capability. The symmetrical arrangement of the RTK probe antennas can effectively receive satellite navigation signals, and the RTK positioning detector processes these signals to obtain positioning data with centimeter-level accuracy, providing accurate geographic reference coordinates for aeromagnetic data. The reliability and accuracy of the location data are improved through dual-antenna positioning technology.

[0020] In some embodiments of the present invention, the unmanned aerial vehicle system further includes: A camera device is installed at the bottom of the cabin and is communicatively connected to the flight control module to acquire video data and transmit it to the flight control module. A lidar is installed at the bottom of the camera device and is communicatively connected to the flight control module to acquire flight altitude data and transmit it to the flight control module.

[0021] By integrating camera equipment and lidar, a multi-source environmental perception system was constructed. The video data provided by the camera equipment enabled operators to observe the environmental conditions of the detection area in real time, while the high-precision altitude data provided by lidar ensured the flight safety of the UAV in complex terrain. The collaborative work of these two sensors and the flight control system enhanced the UAV's perception of the operating environment and provided comprehensive environmental information support for aeromagnetic exploration operations.

[0022] In some embodiments of the present invention, the cabin is further configured as follows: The flight control module controls the UAV system to perform aeromagnetic detection based on the video data, the flight altitude data, and the RTK detection data, and then integrates the data with the received scalar magnetic field data and vector magnetic field data before sending it to the data transmission module.

[0023] By integrating video data, flight altitude data, and RTK detection data through the flight control module, intelligent integration and collaborative application of multi-source information are achieved. This enables the system to automatically adjust flight attitude and detection parameters based on real-time environmental information. At the same time, spatial positioning data and magnetic field measurement data are spatiotemporally matched to ensure the synchronization and consistency of various data acquisitions, thereby improving the spatial correlation accuracy and overall data quality of aeromagnetic data.

[0024] In some embodiments of the present invention, the unmanned aerial vehicle system further includes: A support plate is installed at the bottom of the cabin and fixedly connected to the cabin support frame; One end of the magnetic probe is provided with a rotating connector for connecting to the bottom of the support plate.

[0025] The design of the rotating connector between the support plate and the end of the magnetic probe rod enables adjustable fixation of the magnetic probe rod. The support plate provides a stable installation base, and the rotating connector allows the angle of the magnetic probe rod to be adjusted to adapt to different detection needs. This not only ensures the stability and safety of the system, but also provides a flexible equipment configuration, enhancing the adaptability and practicality of the entire system. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 A schematic diagram of the structure of a highly integrated rotor-wing aeromagnetic integrated unmanned aerial vehicle system provided in an embodiment of the present invention; Figure 2A front view of a highly integrated rotor-wing aeromagnetic integrated unmanned aerial vehicle system provided in an embodiment of the present invention; Figure 3 A top view of a highly integrated rotor-wing aeromagnetic integrated unmanned aerial vehicle system provided in an embodiment of the present invention; Figure 4 A side view of a highly integrated rotorcraft aeromagnetic unmanned aerial vehicle system provided in an embodiment of the present invention; Figure 5 A data transmission flowchart of a highly integrated rotor-wing aeromagnetic integrated unmanned aerial vehicle system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the front structure of a power distribution board provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the back structure of a power distribution board provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of another front structure of the power distribution board provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of a circuit board connection structure provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the internal configuration structure of a cabin provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of another highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system provided in an embodiment of the present invention.

[0027] In the picture: 100. Cabin; 110. Flight control module; 120. Data transmission module; 130. Electronics bay module; 140. Power distribution board; 141. Outer positioning hole; 142. Inner positioning hole; 143. Flight control main control board; 144. Shock absorber ball; 200. Magnetic probe rod; 210. Nacelle support; 220. Quick-release assembly; 230. Cesium optical pump mounting space; 240. Fluxgate mounting space; 250. Data transmission antenna; 260. RTK detection antenna; 270. Magnetic probe rod folding assembly; 300. Arm assembly; 310. Power drive module; 311. Propeller; 400. Camera equipment; 500. LiDAR; 600. Battery compartment; 610. Support plate; 700. Rotating connector. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus. Currently, the airborne magnetic detection system integrates an airborne magnetometer, an airborne magnetic compensator, a navigation and positioning system, an altimeter, and a data processing system into a single payload. Three payload integration methods have been developed: suspending the magnetometer detection system via a semi-rigid boom under the UAV; suspending the magnetometer detection system via a cable and an aerodynamic shell under the UAV; and fixing the magnetometer detection system to a rigid boom in front of, behind, or directly below the UAV.

[0029] However, the aforementioned payload integration method separates the UAV system and the aeromagnetic detection system into two independent structures, and their data is not shared. For example, due to the high degree of integration of existing UAVs, the data from the UAV's built-in navigation and positioning system and altimeter are not acquired by the aeromagnetic detection system. This results in the aeromagnetic detection system needing to be equipped with a separate navigation and positioning system and altimeter to acquire data, which not only increases the payload of the rotorcraft UAV and reduces its endurance, but also wastes equipment resources.

[0030] Secondly, the aeromagnetic detection system is equipped with a dedicated electronic bay as the core unit for the control and processing of the aeromagnetic system. It is used for sensor power supply, data acquisition, clock alignment, and real-time transmission and reception of data commands. This means that when installing a magnetic detection system on a drone, it is necessary to balance the weight of the payload system on the drone and the stability of the drone's flight attitude.

[0031] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0032] like Figures 1 to 4As shown, the present invention provides a highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system.

[0033] In some embodiments, the unmanned aerial vehicle system includes a magnetic probe 200, the two ends of which are snapped together with the cabin support 210. A cesium optical pump and a fluxgate sensor are installed on the magnetic probe 200. The cesium optical pump is used to acquire scalar magnetic field data, and the fluxgate sensor is used to acquire vector magnetic field data. Optionally, the magnetic probe 200 can be a carbon fiber rod; Furthermore, the magnetic probe 200 provides a cesium optical pump installation space 230 for the installation of the cesium optical pump. The cesium optical pump installation space 230 is located inside the magnetic probe 200 and at both ends of the magnetic probe 200. The cesium optical pump is installed in the cesium optical pump installation space 230, and the signal line of the cesium optical pump is routed through the inside of the magnetic probe 200. The cesium optical pump adopts a differential design, which can effectively eliminate geomagnetic gradient and geomagnetic diurnal variation through two cesium optical pumps at both ends, thereby improving the accuracy of airborne magnetic detection.

[0034] Furthermore, the magnetic probe 200 provides a fluxgate mounting space 240 for the installation of the fluxgate sensor. The fluxgate mounting space 240 is located in the middle of the magnetic probe 200, and the fluxgate sensor is fixedly installed in the fluxgate mounting space 240 using a non-magnetic material mounting bracket.

[0035] In some embodiments, the unmanned aerial vehicle system includes a quick-release component 220 for securing and removing the magnetic probe 200.

[0036] In some embodiments, the unmanned aerial vehicle system includes a cabin 100, which is fixedly connected to a cabin support 210 by bolts.

[0037] In some embodiments, the cabin 100 is equipped with a flight control module 110.

[0038] In some embodiments, the cabin 100 is also equipped with a data transmission module 120, which is communicatively connected to the flight control module 110.

[0039] In some embodiments, the cabin 100 is further equipped with an electronic bay module 130, which is communicatively connected to the flight control module 110, a cesium optical pump, and a fluxgate sensor. The electronic bay module 130 receives scalar magnetic field data and vector magnetic field data and sends them to the flight control module 110. Furthermore, the signal line of the fluxgate sensor is connected to the electronic bay module 130. In some embodiments, the flight control module 110 sends scalar magnetic field data and vector magnetic field data to the data transmission module 120. The data transmission module 120 integrates the scalar magnetic field data and vector magnetic field data and sends them to the host computer software via the remote controller. The host computer software parses the integrated magnetic field data to obtain aeromagnetic information.

[0040] In some embodiments, such as Figure 5 As shown, the electronic housing module 130 transmits data to the flight control module 110 via a custom electronic housing MAVLINK message; The flight control module 110 is connected to the data transmission module 120 via a serial port. The data transmission module 120 transmits the integrated data to the remote controller via 2.4GHz FHSS frequency modulation wireless transmission. The host computer software connects to the remote controller's Wi-Fi and uses the TCP / IP protocol to query and resolve the IP addresses of scalar and vector magnetic field data to obtain aeromagnetic data. This achieves integrated communication data link, breaking the traditional design of independent wireless communication between UAVs and aeromagnetic data, realizing integrated communication links between UAVs and aeromagnetic systems, achieving synchronous data transmission, reducing data latency, and lowering the complexity of hardware equipment.

[0041] The aforementioned UAV system integrates a cesium optical pump and a fluxgate sensor onto the magnetic probe 200, and highly integrates the flight control module 110, data transmission module 120, and electronic bay module 130 within the cabin 100. This achieves an integrated design between the aeromagnetic detection system and the UAV flight platform, reducing the length and complexity of internal cables and minimizing interference and signal loss during transmission. Simultaneously, the electronic bay module 130 receives and processes magnetic field data and transmits it to the flight control module 110, enabling coordinated optimization of magnetic field data acquisition and flight control. This improves the efficiency of aeromagnetic data acquisition and the overall reliability of the system.

[0042] In some embodiments, the unmanned aerial vehicle system further includes an RTK detection antenna 260, which is installed at both ends of the magnetic probe 200 to acquire RTK detection signals.

[0043] In some embodiments, the unmanned aerial vehicle system further includes a magnetic probe folding member 270, which is disposed on the magnetic probe 200 and located between the RTK detection antenna 260 and the quick-release member 220. The magnetic probe folding component 270 is made of aluminum alloy, which facilitates the folding of the magnetic probe 200 and the storage and transportation of the UAV system.

[0044] In some embodiments, the unmanned aerial vehicle system further includes an RTK positioning detector, which is configured inside the cabin 100, electrically connected to the RTK detection antenna 260, and communicatively connected to the flight control module 110, for processing the RTK detection signal to obtain RTK detection data and sending it to the flight control module 110. Specifically, RTK detection data includes heading information, latitude and longitude positioning information, and altitude information, achieving centimeter-level positioning accuracy.

[0045] By working together with the RTK detection antennas 260 installed at both ends of the magnetic probe 200 and the RTK positioning detector inside the cabin 100, the UAV is provided with high-precision spatial positioning capability. The symmetrical arrangement of the RTK detection antennas 260 can effectively receive satellite navigation signals. The RTK positioning detector processes these signals to obtain positioning data with centimeter-level accuracy, providing accurate geographic reference coordinates for aeromagnetic data. The reliability and accuracy of the position data are improved through dual-antenna positioning technology.

[0046] In some embodiments, the unmanned aerial vehicle system further includes a camera device 400, which is mounted on the bottom of the cabin 100 away from the data transmission module 120 via a shock-absorbing bracket and is communicatively connected to the flight control module 110 for acquiring video data and transmitting it to the flight control module 110. The camera device 400 is equipped with LED light groups, which are integrated on both sides of the camera device 400 for night flight and to collect video data from the first-person perspective of the UAV system. The video signal line of the camera device 400 is connected to the cabin 100 through a dedicated interface. In some embodiments, the unmanned aerial vehicle system also includes a lidar 500, which is fixedly mounted on the bottom of the camera device 400 by a dedicated bracket and is communicatively connected to the flight control module 110 for acquiring flight altitude data and transmitting it to the flight control module 110. Optionally, the maximum range of the LiDAR 500 is 180m; the LiDAR 500 also features a vibration-resistant design.

[0047] By integrating camera device 400 and lidar 500, a multi-source environmental perception system was constructed. The video data provided by camera device 400 enables operators to observe the environmental conditions of the detection area in real time, while the high-precision altitude data provided by lidar 500 ensures the flight safety of the UAV in complex terrain. The collaborative work of these two sensors and the flight control system enhances the UAV's perception of the operating environment and provides comprehensive environmental information support for aeromagnetic exploration operations.

[0048] In some embodiments, the flight control module 110 controls the UAV system to perform aeromagnetic detection based on video data, flight altitude data and RTK detection data, and integrates the received scalar magnetic field data and vector magnetic field data before sending them to the data transmission module 120.

[0049] By integrating video data, flight altitude data, and RTK detection data through the flight control module 110, intelligent integration and collaborative application of multi-source information are achieved. This enables the system to automatically adjust flight attitude and detection parameters based on real-time environmental information. At the same time, it performs spatiotemporal matching of spatial positioning data and magnetic field measurement data, ensuring the synchronization and consistency of various data acquisitions, thereby improving the spatial correlation accuracy and overall data quality of aeromagnetic data.

[0050] In some embodiments, the unmanned aerial vehicle system further includes a data transmission antenna 250, which is externally mounted on both sides of the magnetic probe 200 via an antenna mount and located between the quick-release piece 220 and the fluxgate mounting position. The data transmission antenna 250 is connected to the data transmission module 120 via an SMA interface for data integration.

[0051] In some embodiments, the unmanned aerial vehicle system further includes an arm assembly 300, one end of which is fixedly connected to the cabin 100; The boom assembly 300 includes four boom arms, which are fixedly connected to the four positions of the cabin 100. A folding arm component is also provided between the boom and the cabin 100. The folding arm component is made of aluminum alloy and is connected to the cabin 100 through an aluminum alloy hinge structure. It is used for folding the boom and for storing and transporting the UAV system. Each folding arm component is equipped with a locking mechanism to ensure that the boom assembly 300 is stable after unfolding. Specifically, the power and signal lines of the folding arm are routed through the wiring channels inside the arm.

[0052] In some embodiments, the unmanned aerial vehicle system further includes a power drive module 310, which is connected to the cabin 100 via the arm assembly 300 and is used to drive the unmanned aerial vehicle system to fly. The power drive module 310 includes a propeller 311, which is used to drive the unmanned aerial vehicle system to fly via aerodynamics. The power drive module 310 also includes a motor module, which is connected to the propeller 311 for driving the propeller 311 to rotate. The power drive module 310 also includes an electronic speed controller (ESC) module, which is electrically connected to the motor module and is used to adjust the speed of the motor module. Specifically, the motor module's wires and signal lines are routed through the inside of the arm assembly 300 to the cabin 100.

[0053] Through the integrated design of the power drive module 310, the propeller 311, motor module and ESC module are connected to the cabin 100 as a complete power unit via the arm assembly 300, providing stable and reliable flight propulsion. The optimized matching between the components achieves high efficiency and precision in power output. The precise control of the motor speed by the ESC module ensures the stability and maneuverability of the UAV in various flight conditions, providing a stable flight platform for aeromagnetic exploration operations.

[0054] In some embodiments, the power drive module 310 is further configured to: The takeoff weight is calculated based on the weight of the UAV system and the weight of its battery. The hovering current is calculated based on the takeoff weight. The hovering endurance is calculated based on the hovering current and the battery capacity. The appropriate motor module and ESC module are selected based on the hovering endurance.

[0055] By calculating the relationship between takeoff weight, hovering current, and endurance, the scientific selection and optimized configuration of the power system were achieved, ensuring that the motor module and ESC module were precisely matched with the mission requirements. This avoided both the decline in flight performance caused by insufficient power and the energy waste caused by excessive power, thereby maximizing the system's endurance while ensuring the performance of aeromagnetic detection.

[0056] In some embodiments, the calculation model for takeoff weight is as follows:

[0057] in, Takeoff weight; The weight of the unmanned aerial vehicle (UAV) system; Empty weight of the unmanned aerial vehicle (UAV) system; This refers to the load weight; This refers to the weight of the battery.

[0058] In some embodiments, the calculation model for hovering endurance is as follows:

[0059] in, This refers to hovering range; This refers to the battery's capacity. This represents the remaining battery capacity. This is the hovering current.

[0060] Optionally, the battery capacity is 30000mAh and 60000mAh, with the remaining battery capacity being 4000mAh. The motor pull force is calculated based on the weight of the drone system. The fitting relationship between the motor current and the motor pull force is obtained through the motor parameter table provided by the manufacturer. Thus, the hovering current is found to be four times the current of a single motor under the motor pull force of 1 / 4 of the drone system weight.

[0061] In some embodiments, the cabin 100 is further provided with a power distribution board 140, which is electrically connected to the electronic cabin module 130, the data transmission module 120, the motor module, and the ESC module. The power distribution board 140 is used to supply power to the electronic cabin module 130, the data transmission module 120, the motor module, and the ESC module through power distribution.

[0062] The power distribution board 140 provides unified power allocation and management for the electronic compartment module 130, data transmission module 120, motor module, and ESC module, simplifying the system's power wiring structure and reducing the complexity and weight caused by multiple independent power supplies. At the same time, through a unified power monitoring and protection mechanism, it ensures that each module receives a stable and reliable power supply, improving the overall system's operational stability and safety, and providing continuous energy security for long-term aeromagnetic exploration missions.

[0063] In some embodiments, the power distribution board 140 includes a battery interface that is electrically connected to the power output terminal of the battery of the UAV system, for inputting the electrical energy provided by the battery into the power distribution board 140 for distribution. The power distribution board 140 also includes a step-down module. The input terminal of the step-down module is connected to the battery interface, and the output terminal of the step-down module is connected to the electronic compartment module 130 and the data transmission module 120, which is used to convert the battery voltage into the operating voltage of the electronic compartment module 130 and the data transmission module 120. The power distribution board 140 also includes a motor power supply port, which is electrically connected to the motor module and used to supply power to the motor module; The power distribution board 140 also includes an ESC parallel interface, which connects multiple ESC modules via a CAN bus for powering the ESC modules. The power distribution board 140 also includes a positioning hole group, which includes an outer positioning hole 141 and an inner positioning hole 142. The outer positioning hole 141 is connected to the cabin 100, and the inner positioning hole 142 is connected to the flight control module 110 through a shock-absorbing ball 144.

[0064] The power distribution board 140, through the coordinated design of the battery interface, step-down module, motor power supply port, and ESC parallel interface, realizes the differentiated power supply needs of different electrical devices. The battery interface is responsible for the input and distribution of power, the step-down module provides a stable operating voltage for precision electronic equipment, the motor power supply port meets the power needs of high-power power systems, and the ESC parallel interface realizes the coordinated power supply of multiple ESCs through the CAN bus, which improves the efficiency of power utilization and ensures the working stability of each module.

[0065] Specifically, such as Figures 6 to 7 As shown, there are two XT90 power serial ports on one side of the front of the power distribution board 140. The XT90 power serial ports are battery interfaces used to connect two batteries. The XT90 power serial port is divided into four XT90-type 48V power supply ports. The XT90-type 48V power supply ports are motor interfaces, providing 48V high-voltage drive power to the motor module. A 48V to 24V step-down module is configured on the back of the power distribution board 140. The input terminal of the 48V to 24V step-down module is connected to the 48V power supply port of the XT90 type, which is branched off from the XT90 power supply series port, and the output terminal provides 24V voltage. The front of the power distribution board 140 is also equipped with four XT60 type 24V power supply ports. The XT60 type 24V power supply ports are located above or below the four XT90 type 48V power supply ports, and are used to connect modules that require 24V power supply, such as the electronic compartment module 130, the LiDAR 500, the camera equipment 400, and the data transmission module 120. On the other side of the front of the power distribution board 140, there are 6 parallel CAN ports, which are ESC parallel interfaces; like Figure 8 The number of parallel CAN ports can be connected in series with different numbers of ESC modules via the CAN bus, depending on the number of ESC modules. Eight positioning holes are designed around the front of the power distribution board 140, including four outer positioning holes 141 and four inner positioning holes 142. The outer positioning holes 141 are used for the connection between the power distribution board 140 and the nacelle 100, such as... Figure 9 As shown, the inner positioning hole 142 is connected to the flight control main control board 143 of the flight control module 110 for shock absorption by installing shock-absorbing balls 144.

[0066] Through the design of the aforementioned power drive module 310 and power distribution board 140, the unloaded flight time of the UAV system is greater than or equal to 60 minutes when equipped with two batteries and greater than or equal to 70 minutes when equipped with four batteries; and the flight time of the UAV system equipped with cesium optical pump and fluxgate sensor is 48 minutes when equipped with two batteries and 62 minutes when equipped with four batteries.

[0067] In some embodiments, such as Figure 10 As shown, the circuit boards inside the cabin 100 are installed and fixed in layers by copper pillars. The data transmission module 120 is located on one side inside the cabin 100. The other side inside the cabin 100 is divided into the left side, the middle part, and the right side of the cabin 100. The data transmission module 120 is placed inside the cabin 100 on the side away from the camera equipment 400. It can balance the weight of the camera equipment 400 and the lidar 500 installed at the bottom of the cabin 100, so that the weight distribution is uniform and the flight efficiency is improved. The modules are interconnected by ribbon cables and connectors, and the wiring harness is arranged relatively neatly. Among them, the left side and the right side of the cabin 100 are respectively equipped with an electronic cabin module 130 consisting of two electronic cabin panels; the two electronic cabin panels on the left side of the cabin 100 are a data communication board located above the left side of the cabin 100 and a data fusion board located below the left side of the cabin 100. The data communication board is used to provide the flight control module 110 with heading information, latitude and longitude positioning information and altitude information based on RTK detection data; The data fusion board is used to fuse scalar magnetic field data and vector magnetic field data; The two electronic bay panels on the right side of the cabin 100 are the fluxgate acquisition panel located on the upper right side of the cabin 100 and the optical pump acquisition panel located on the lower right side of the cabin 100. The fluxgate acquisition board is electrically connected to the fluxgate sensor to receive vector magnetic field data; The cesium optical pump acquisition board is electrically connected to the cesium optical pump and is used to receive scalar magnetic field information; The electronic bays on the left and right sides can balance the weight of the aircraft, and the symmetrical layout helps to maintain flight stability. The cesium optical pump acquisition board and fluxgate acquisition board are set in the electronic compartment module 130 to process scalar magnetic field data and vector magnetic field data respectively. A special data fusion board is used to fuse the two types of magnetic field data. This can give full play to the performance advantages of different magnetic sensors, ensure the accuracy and synchronization of various magnetic field data acquisition, and improve the quality and usability of magnetic field data through professional data processing, providing a reliable data foundation for subsequent aeromagnetic information analysis.

[0068] The power distribution board 140 is located at the lower part of the middle of the cabin 100, and the flight control main control board 143 of the flight control module 110 is located at the upper part of the middle of the cabin 100. It can supply power to the left and right electronic bay boards, data transmission module 120, motor module and ESC module with very few wires. The wiring is simple, the short-distance wiring reduces interference, and the circuit is not more complicated due to winding, thus avoiding electromagnetic interference to the flight control module 110. Since the middle of the cabin 100 is usually close to the center of gravity of the UAV, installing the flight control main control board 143 here can make the weight distribution more even, reduce the yaw torque during flight, and improve flight stability. The middle of the cabin 100 usually has more space, which facilitates the wiring, heat dissipation and fixation of the flight control main control board 143, reduces interference with other components, and the middle of the cabin 100 is less affected by external impacts or drops, which can better protect the flight control board from physical damage. It can also be kept away from electromagnetic interference sources at the edge of the fuselage, reducing interference to the signal of the flight control main control board 143 and improving system reliability.

[0069] In addition, the flight control main control board 143 is fixed to the vibration damping plate of the power distribution board 140 with 3M adhesive, which can isolate the flight control main control board 143 from vibration. Furthermore, the central part of the cabin 100 is less directly affected by the vibration of components such as the motor module and propeller 311, which helps to reduce noise interference from the sensors of the flight control main control board 143 and improve data accuracy.

[0070] By placing the data communication board and data fusion board on one side, the fluxgate acquisition board and cesium optical pump acquisition board on the other side, and placing the flight control main control board and power distribution board 140 in the middle, the data transmission module 120 balances the weight, which facilitates maintenance and replacement. The communication, control and power systems are integrated together, and a certain distance is maintained between the subsystems to facilitate heat dissipation.

[0071] In some embodiments, the unmanned aerial vehicle system further includes a support plate 610, which is fixedly connected to the cabin support 210 for supporting the cabin support 210.

[0072] In some embodiments, the unmanned aerial vehicle system further includes a battery compartment 600, which is located in the space formed by the support plate 610 and the cabin 100, and is used to house the battery of the unmanned aerial vehicle system.

[0073] In some embodiments, such as Figure 11 As shown, one end of the magnetic probe 200 is provided with a rotating connector 700, which is used to connect to the bottom of the support plate 610 via the rotating connector 700.

[0074] The design of the support plate 610 and the rotating connector 700 at the end of the magnetic probe 200 enables adjustable fixing of the magnetic probe 200. The support plate 610 provides a stable installation base, and the rotating connector 700 allows the magnetic probe 200 to be angled to adapt to different detection needs. This not only ensures the stability and safety of the system, but also provides a flexible equipment configuration method, enhancing the adaptability and practicality of the entire system.

[0075] It should be noted that the above is a reference method for a highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system, and the present invention is not limited thereto.

[0076] The embodiments of this invention realize the integrated design of the aeromagnetic detection system and the UAV flight platform, reducing the length and complexity of internal connection cables, and reducing interference and loss during signal transmission. At the same time, the electronic bay module receives and processes magnetic field data and transmits it to the flight control module, realizing the coordinated optimization of magnetic field data acquisition and flight control, thereby improving the acquisition efficiency of aeromagnetic data and the overall reliability of the system. This solves the problem of existing technologies that separate the UAV system and the aeromagnetic detection system into two independent structures. The data from the UAV's built-in navigation and positioning system and altimeter are not acquired by the aeromagnetic detection system, which requires the aeromagnetic detection system to be equipped with a separate navigation and positioning system and altimeter to acquire data. This increases the payload of the rotorcraft UAV, reduces the UAV's endurance, and wastes equipment resources. In addition, existing aeromagnetic systems of small rotorcraft UAVs generally have problems such as short endurance and limited payload capacity, which make it difficult to meet the technical problems of large-scale aeromagnetic exploration.

[0077] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A highly integrated rotor-based aeromagnetic unmanned aerial vehicle (UAV) system, characterized in that, include: The cabin, which is connected to the cabin support frame; A magnetic probe is connected to the nacelle support frame. A cesium optical pump and a fluxgate sensor are installed on the magnetic probe. The cesium optical pump is used to acquire scalar magnetic field data, and the fluxgate sensor is used to acquire vector magnetic field data. The cabin is equipped with: Flight control module; The data transmission module is communicatively connected to the flight control module; The electronic housing module is communicatively connected to the flight control module, the cesium optical pump, and the fluxgate sensor. The electronic housing module receives the scalar magnetic field data and the vector magnetic field data and sends them to the flight control module. The flight control module sends the scalar magnetic field data and the vector magnetic field data to the data transmission module. The data transmission module integrates the scalar magnetic field data and the vector magnetic field data and then sends them to the host computer software via the remote controller. The host computer software parses the integrated magnetic field data to obtain aeromagnetic information.

2. The highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system according to claim 1, characterized in that, The electronic storage module includes: A cesium optical pump acquisition board, electrically connected to the cesium optical pump, is used to receive the scalar magnetic field data; A fluxgate acquisition board, electrically connected to the fluxgate sensor, is used to receive the vector magnetic field data; The data fusion board is used to fuse the scalar magnetic field data and the vector magnetic field data.

3. The highly integrated rotor-aeromagnetic unmanned aerial vehicle system according to claim 1, characterized in that, The unmanned aerial vehicle system also includes: A power drive module, connected to the cabin via an arm assembly, is used to drive the unmanned aerial vehicle system in flight. The power drive module includes: Propellers are used to drive the unmanned aerial vehicle system to fly via aerodynamics; A motor module, which is connected to the propeller, is used to drive the propeller to rotate; An electronic speed controller (ESC) module, electrically connected to the motor module, is used to adjust the speed of the motor module.

4. The highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system according to claim 3, characterized in that, The cabin is also equipped with: The power distribution board is electrically connected to the electronic compartment module, the data transmission module, the motor module, and the ESC module. The power distribution board is used to supply power to the electronic compartment module, the data transmission module, the motor module, and the ESC module through power distribution.

5. The highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system according to claim 4, characterized in that, The power distribution board includes: The battery interface is electrically connected to the power output terminal of the battery of the UAV system, and is used to input the electrical energy provided by the battery to the power distribution board for distribution. A step-down module, whose input terminal is connected to the battery interface and whose output terminal is connected to the electronic compartment module and the data transmission module, is used to convert the voltage of the battery into the operating voltage of the electronic compartment module and the data transmission module; The motor power supply port is electrically connected to the motor module and is used to supply power to the motor module; The ESC parallel interface connects multiple ESC modules via a CAN bus and is used to supply power to the ESC modules.

6. The highly integrated rotor-aeromagnetic unmanned aerial vehicle system according to claim 5, characterized in that, The power drive module is also configured to: The takeoff weight is calculated based on the weight of the UAV system and the weight of the battery. The hovering current is calculated based on the takeoff weight. The hovering endurance is calculated based on the hovering current and the battery capacity. The motor module and the ESC module are selected based on the hovering endurance.

7. The highly integrated rotor-aeromagnetic unmanned aerial vehicle system according to claim 2, characterized in that, The unmanned aerial vehicle system also includes: An RTK probe antenna is installed at both ends of the magnetic probe rod to acquire RTK probe signals; An RTK positioning detector is configured inside the cabin, electrically connected to the RTK detection antenna, and communicatively connected to the flight control module. It is used to process the RTK detection signal to obtain RTK detection data and send it to the flight control module.

8. The highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system according to claim 7, characterized in that, The unmanned aerial vehicle system also includes: A camera device is installed at the bottom of the cabin and is communicatively connected to the flight control module to acquire video data and transmit it to the flight control module. A lidar is installed at the bottom of the camera device and is communicatively connected to the flight control module to acquire flight altitude data and transmit it to the flight control module.

9. The highly integrated rotor-aeromagnetic integrated unmanned aerial vehicle system according to claim 8, characterized in that, The cabin is also configured as follows: The flight control module controls the UAV system to perform aeromagnetic detection based on the video data, the flight altitude data, and the RTK detection data, and then integrates the data with the received scalar magnetic field data and vector magnetic field data before sending it to the data transmission module.

10. The highly integrated rotor-aeromagnetic unmanned aerial vehicle system according to claim 6, characterized in that, The unmanned aerial vehicle system also includes: A support plate is installed at the bottom of the cabin and fixedly connected to the cabin support frame; One end of the magnetic probe is provided with a rotating connector for connecting to the bottom of the support plate.

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